cmake_minimum_required(VERSION 3.5)
project(rfnn_ekf_mov4)

# Default to C99
if(NOT CMAKE_C_STANDARD)
  set(CMAKE_C_STANDARD 99)
endif()

# Default to C++14
if(NOT CMAKE_CXX_STANDARD)
  set(CMAKE_CXX_STANDARD 14)
endif()

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # uncomment the line when a copyright and license is not present in all source files
  #set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # uncomment the line when this package is not in a git repo
  #set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

add_executable(rfnn_ekf_mov4 src/rfnn_ekf_mov4.cpp
src/obstacle_position/obstacle_position.cpp
src/desired_input/desired_input_v2.cpp
src/observed_tar_input/observed_tar_input_v2.cpp
src/rfnn_fcn_v3/rfnn_fcn_v3.cpp
src/rfnn_to_vel/rfnn_to_vel.cpp
src/desired_vel_vg/desired_vel_vg.cpp
#src/desired_vel_vg/colon.cpp
src/jac_obt_vR/jac_obt_vR_initialize.cpp
src/jac_obt_vR/jac_obt_vR.cpp
src/jac_obt_vR/norm.cpp
src/EKF_v5g/EKF_v5g_initialize.cpp
src/EKF_v5g/EKF_v5g.cpp
src/EKF_v5g/xgeqp3.cpp
src/EKF_v5g/xnrm2.cpp
src/desired_vel_v2/desired_vel_v2.cpp)

# 设置包含目录
target_include_directories(rfnn_ekf_mov4 PUBLIC
${PROJECT_SOURCE_DIR}/include # 包含整个include目录
${PROJECT_SOURCE_DIR}/src/obstacle_position
${PROJECT_SOURCE_DIR}/src/desired_input
${PROJECT_SOURCE_DIR}/src/observed_tar_input
${PROJECT_SOURCE_DIR}/src/rfnn_fcn_v3
${PROJECT_SOURCE_DIR}/src/rfnn_to_vel
${PROJECT_SOURCE_DIR}/src/desired_vel_vg
${PROJECT_SOURCE_DIR}/src/jac_obt_vR
${PROJECT_SOURCE_DIR}/src/EKF_v5g
${PROJECT_SOURCE_DIR}/src/desired_vel_v2
)

ament_target_dependencies(rfnn_ekf_mov4 std_msgs rclcpp)

install(TARGETS
  rfnn_ekf_mov4
  DESTINATION lib/${PROJECT_NAME}
)

ament_package()
